Hello folks, during work on force controlled robots (manipulators and mobile platforms) [Intelligent Industrial Robotics (IIROB)](http://rob.ipr.kit.edu/english/303.php) extended a driver for Schunk-FTS (with ATI electronics) which communicates over CAN-Bus. We find the package very useful in our research and projects so hopefully will be also useful for you. Some important features explained in the documentation on [ROS-wiki](http://wiki.ros.org/ati_force_torque): The ati_force_torque package provides a ROS interface for an ATI force/torque sensor that is connected over CAN-bus. The most important features of this package are: 1. 2 ROS Nodes one for configuration and one for reading of sensor. 2. Implemenation of hardware_interface::ForceTorqueSensorHandle for using sensor in ros_control. 3. Sampling the sensor on ca. 800 Hz and downsample to desied freqency 4. Automatic calibration of sensor upon start. 5. Definition of static calibration offsets. 6. Integration of filters: ThresholdFilter, LowPassFilter, MovingMeanFilter and GravityCompensation (from iirob_filters package). This package is builds upon the original cob_forcetorque written in 2011 and not updated since than.For can interfacing the CAN devices cob_generic_can package is used. Best, Denis --- [Visit Topic](https://discourse.ros.org/t/new-package-ati-force-torque/968/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: